Publication:
Navigation system design and state estimation for a small rigid hull inflatable boat (RHIB)

dc.contributor.advisorHorner, Douglas
dc.contributor.advisorKragelund, Sean
dc.contributor.authorTerjesen, Steven
dc.contributor.departmentMechanical and Aerospace Engineering (MAE)
dc.dateSep-14
dc.date.accessioned2014-12-05T20:10:58Z
dc.date.available2014-12-05T20:10:58Z
dc.date.issued2014-09
dc.description.abstractAutonomous operation of a small rigid hull inflatable boat (RHIB) is a complex problem that requires a robust network of sensors, controllers, processors, and actuators. Furthermore, autonomous navigation requires accurate state estimation, fusing and filtering data from an array of sensors to give the best possible estimates of attitude, position, and velocity. This thesis will address the hardware modifications and navigation state estimators used to configure the SeaFox Mk II RHIB for future autonomous operations. The study began with a RHIB capable of manual and remote-controlled operation. The proprietary controllers and processors were replaced with an open architecture system that enabled an autonomous mode of operation and data collection from a suite of global positioning satellite receivers and inertial measurement units. Multiple navigation state estimators were designed using the extended Kalman filter and several variants of the unscented Kalman filter. Each filter was evaluated against simulated and actual sea trial data to determine its accuracy, robustness, and computational efficiency.en_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.
dc.description.serviceLieutenant, United States Navyen_US
dc.description.urihttp://archive.org/details/navigationsystem1094544016
dc.identifier.urihttps://hdl.handle.net/10945/44016
dc.publisherMonterey, California: Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.subject.authorSEAFOXen_US
dc.subject.authorRHIBen_US
dc.subject.authorunmanneden_US
dc.subject.authorautonomousen_US
dc.subject.authorextended Kalman filteren_US
dc.subject.authorEKFen_US
dc.subject.authorunscented Kalman filteren_US
dc.subject.authorUKFen_US
dc.subject.authorsquare root unscented Kalman Filteren_US
dc.subject.authorSR-UKFen_US
dc.subject.authorspherical simplex unscented Kalman filteren_US
dc.subject.authorSSUKFen_US
dc.subject.authorsquare root spherical simplex unscented Kalman filteren_US
dc.subject.authorSR-SSUKF.en_US
dc.titleNavigation system design and state estimation for a small rigid hull inflatable boat (RHIB)en_US
dc.typeThesisen_US
dspace.entity.typePublication
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.nameMechanical Engineering Master of Science in Mechanical Engineeringen_US
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